CN111881244A - Method and device for matching V2X technology to encrypted and/or deflected high-precision maps - Google Patents
Method and device for matching V2X technology to encrypted and/or deflected high-precision maps Download PDFInfo
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Abstract
The present invention relates to the field of automated driving/driving assistance based on V2X technology. In particular, the invention provides a method for matching V2X technology with encrypted and/or deflected high precision maps, the method comprising at least the steps of: acquiring traffic event information, wherein the traffic event information comprises position information of a traffic event; analyzing the traffic event information so that the traffic event is matched with at least one version of the encrypted and/or deflected high-precision map, wherein the at least one version of the high-precision map is encrypted and/or deflected in different modes; and sending the analyzed and processed traffic event information to a vehicle carrying at least one version of high-precision map so as to correctly match and/or position the traffic event on the high-precision map carried by the vehicle. The invention also relates to a device for matching the V2X technology with encrypted and/or deflected high-precision maps, a corresponding vehicle, a road side unit and a backend data monitoring platform. The present invention aims to provide a scheme for matching V2X data with encrypted and/or deflected high precision maps.
Description
Technical Field
The invention relates to a method for matching V2X with an encrypted and/or deflected high-precision map, to a device for matching V2X with an encrypted and/or deflected high-precision map, to a corresponding vehicle, to a road side unit and to a backend data monitoring platform.
Background
The accurate, real-time and reliable data and data processing mode are essential elements for guaranteeing the safety of driving assistance and automatic driving technology, and from the technical feasibility, the high-precision map is an important safety component of an automatic driving vehicle of level L3 or above. Meanwhile, high-precision positioning is also an important dependence item for landing application of the V2X technology, and a conventional positioning manner relying on GNSS (GNSS + DR) cannot effectively support the application scenario of V2X. For example, if a traffic event monitored by a Road Side Unit (Road Side Unit) cannot be accurately located, it is difficult to accurately determine the position of the lane level where the traffic event in front of the vehicle occurs, and thus early warning, planning, control, and the like of the lane level of the vehicle cannot be performed based on V2X.
In china, for security considerations and according to relevant regulations, electronic map data needs to be processed in a confidential manner before being published, electronic maps provided by map manufacturers to host factories are encrypted and/or deflected by algorithms, and the encryption/deflection algorithms of electronic maps of different map manufacturers are different, which results in that: even on the same road segment, autonomous vehicles from different host plants will navigate and test based on the high-precision maps loaded with different security processing algorithms. On the other hand, autonomous vehicles equipped with encrypted and/or deflected high-precision maps also face challenges when using information obtained based on V2X technology, and V2X and autonomous driving technology can only be effectively combined when V2X technology achieves accurate positioning of vehicles, traffic events relative to high-precision maps.
In this context, the landing of the application of V2X to the autopilot technology also needs to take into account the effects of encryption and/or deflection of the high-precision map, i.e. the fusion of the V2X technology to the autopilot system also needs to take into account a secure matching method of the data of the V2X technology with differently cryptographically processed (encrypted and/or deflected) high-precision maps carried by vehicles of different brands.
In terms of electronic maps, CN109670011A discloses a multi-map-source map service engine, which is used to highly summarize map instructions from different sources and analyze the sequence and content between layers, so as to reduce the development difficulty. CN107977366A discloses a data output method for coordinate system, in which a target position is converted by a coordinate conversion function, so that a hardware device can shift the WGS-84 coordinate according to the obtained shift distance and shift direction to obtain an approximate GCJ-02 coordinate.
However, neither of these documents relates to matching of information collected based on the V2X technique to a vehicle-mounted high-precision map that has been processed differently for privacy (encryption and/or deflection), and thus the technical pain imparted by map data encryption and/or deflection to matching of the V2X technique to an encrypted/and or deflected high-precision map is still not overcome.
Disclosure of Invention
It is an object of at least one embodiment of the present invention to provide a method for matching V2X technology with encrypted and/or deflective high-precision maps, an apparatus for matching V2X technology with encrypted and/or deflective high-precision maps, a corresponding vehicle, roadside unit and/or backend data monitoring platform, to solve at least some of the problems of the prior art.
According to a first aspect of the present invention, there is provided a method for matching a V2X technique with an encrypted and/or deflected high precision map, the method comprising at least the steps of:
acquiring traffic incident information, wherein the information in the traffic incident comprises position information of the traffic incident;
analyzing the traffic event information so that the analyzed traffic event information is matched with at least one version of encrypted and/or deflected high-precision map;
and sending the analyzed and processed traffic event information to a vehicle carrying the at least one version of high-precision map so as to correctly match and/or position the traffic event on the high-precision map carried by the vehicle.
Here, V2X (also referred to as vehicle networking) may be understood as a technology that enables interaction of a vehicle with all entity information that may affect the vehicle based on communication technologies such as dedicated short range communication technology (DSRC) and/or cellular communication (LTE and 5G), and generally includes four types of scenarios, vehicle-to-vehicle (V2V), vehicle-to-network (V2N), vehicle-to-infrastructure (V2I), and vehicle-to-pedestrian (V2P).
Here, "encryption and/or deflection" is understood to mean a means for performing a confidential process on the map data and the geographical position information, and deflection is also referred to as deflection, offset, or the like.
The method according to the invention enables secure matching of information transmitted using the V2X technology, in particular information containing or relating to a geographical location, to an electronic map that has been processed in a secure manner, for example encrypted and/or deflected, which information may be acquired and/or evaluated, for example, by a vehicle or by a road side unit. This ensures that, on the one hand, the information transmitted by the V2X technique can be accurately matched and/or positioned on a high-precision, confidential map installed on the vehicle as input information for the control planning of the autopilot system. On the other hand, the country information security is ensured by following the relevant regulations of the country for the navigation electronic map without directly involving the compilation of the encryption algorithm itself.
According to a preferred embodiment, the traffic event comprises: a static event representing information of an object at a fixed location; or dynamic events, which represent information of non-stationary, temporary objects. Static events are, for example, state information of road side units, states of traffic lights, contents of dynamic signboards, and the like; the dynamic events may be, for example, traffic accidents, rescue vehicle approaches, temporary construction, traffic control, and the like. The host factory can reserve an interface of a dynamic information layer of the high-precision map based on the calling consideration of the dynamic information, and is used for receiving the customizable information of the data structure at variable time without disclosing the data structure of the basic high-precision map used by the vehicle.
The interface of the dynamic information layer can be understood as the definition of the data structure and expression between the host computer factory and the map manufacturer, between the host computer factory and the host computer factory, and even between industries through a certain protocol and/or standard, so that the data of the structure and expression type can be universally applied to the differentiated high-precision map applicable between the host computer factories.
According to a preferred embodiment, the step of analyzing comprises: and judging whether at least one version of a high-precision map is available, wherein the matching of the traffic event information and the high-precision map is executed in a vehicle, a road side unit, a back end data monitoring platform or a map provider according to the judgment result.
Here, "there is at least one version of the high-precision map available" means, among other things, that data of the high-precision map and map version information, such as a map version number and/or an identifier (including, for example, a trial view number), layer information, map version-specific reference coordinate data, and the like, can be acquired and/or stored. Depending on whether map information can be directly invoked locally at the vehicle and/or roadside unit collecting the traffic event, whether comparison and matching of the collected traffic event and the high-precision map can be directly realized at the vehicle client and/or roadside unit end is influenced, and alternatively, in the case that at least one version of the high-precision map is not available, the collected data may need to be packaged and forwarded to a back-end data monitoring platform or a map provider for further analysis processing.
According to a preferred embodiment, the step of analyzing further comprises: determining whether the location information of the traffic incident is directly or indirectly marked on the at least one version of the high-precision map, wherein it is decided according to a result of the determination: the coordinate position of the traffic incident on the high-precision map is directly determined, or the coordinate position of the traffic incident on the high-precision map is calculated iteratively according to a relative instant positioning (feature matching) algorithm.
Here, the fact that the position information of the traffic event is directly marked on the high-precision map can be understood as: the object characterized by the traffic event is already drawn or marked in the high-precision map as a map element, so that the coordinate position of the object on the high-precision map of the version can be directly obtained.
Here, the fact that the position information of the traffic event is indirectly marked on the high-precision map can be understood as: the roadside units that collected the traffic event have been tagged on the high precision map and have a corresponding unique identification number (ID), or the vehicle that detected the traffic event has been positioned on the high precision map and has a coordinate location with respect to the high precision map. The position of the detected traffic event on the encrypted and/or deflected map may then be calculated based on the unique identification number of the road side unit and/or the position of the vehicle itself in the map coordinate system and the relative position of the traffic event with respect to the road side unit and/or the vehicle's own position.
If not, the position of the traffic event on the high-precision map can be calculated iteratively through a relative instant positioning algorithm. For example, one or more references in the vehicle and/or roadside unit surroundings that have been marked by the high precision map may be selected, and then the coordinates of the traffic event on the map determined by finding the relative orientation and distance with respect to these known references. It is also preferred that the relative location of the traffic event is also obtained, for example, by a localization technique that laser point cloud matches a point cloud map.
According to a preferred embodiment, the step of analyzing further comprises: determining whether the traffic event relates to a static event or a dynamic event, wherein the static event represents information of an object with a fixed position, and the dynamic event represents information of an unfixed temporary object, wherein if the traffic event has been directly or indirectly marked by the at least one version of the high-precision map and the traffic event relates to a static event, the coordinate position of the traffic event on the high-precision map is directly determined, wherein if the roadside unit is marked and relates to a dynamic event, the instantaneous position and/or the motion trajectory of the dynamic event is first deduced, and then the coordinate position of the traffic event on the high-precision map is determined.
According to a preferred embodiment, the step of analyzing further comprises: and judging whether a dynamic information layer interface used for the high-precision map of at least one version is available, wherein the dynamic information layer interface is used for transmitting information which can be directly called by a vehicle loaded with the high-precision map of at least one version.
Here, whether the vehicle, the roadside unit and/or the rear-end data monitoring platform have dynamic information layer interfaces of high-precision maps carried by vehicles of different brands or not affects whether information capable of being directly called by the vehicle is transmitted through the interfaces.
According to one embodiment, matching the traffic event to at least one version of a high precision map is achieved by: sending the detected traffic incident and/or the position coordinate information of the high-precision map based on at least one version to a back-end data monitoring platform, acquiring an identifier of the high-precision map of at least one version in the back-end data monitoring platform, determining corresponding map information according to the identifier and performing matching of the traffic information with the high-precision map of at least one version in the back-end data monitoring platform; or, the detected traffic incident is transmitted to a map provider, the map provider converts/packages the traffic incident information into a data format that can be called by a dynamic information layer interface, and the traffic information detected by the vehicle and/or the roadside unit is distributed through the dynamic information layer interface.
Here, the back-end data monitoring platform stores, as a trusted management unit, information of high-precision maps of a plurality of versions, for example. The back-end data monitoring platform, as a trusted management entity, may also be equipped with multiple versions of plug-ins that perform confidential processing (e.g., encryption and/or deflection) on the map data, for example, thereby obtaining traffic event information that fits the multiple versions of high-precision map information.
According to one embodiment, matching the traffic event to at least one version of a high precision map is achieved by: and the vehicle system or the road side unit immediately converts/packages the detected traffic event information into a data format which can be called by the dynamic information layer interface and sends the data format to the vehicles and/or the road side unit within the influence range.
Here, the identifier may be, for example, a version number or an examination number of each high-precision map, and depends on, for example, a host factory, a vehicle type, a vehicle lot, a road segment, a mounted high-precision map version, or the like.
With this embodiment, a plurality of possibilities are advantageously provided for the matching of traffic events to encrypted and/or deflected high-precision maps. In addition to the direct implementation of the adaptation at the vehicle end and/or the roadside unit end, it is also possible, for example, to carry out the adaptation directly within the back-end data monitoring platform, in the case of regulatory supervision, against the respective security-processed (e.g. encrypted and/or deflected) high-precision maps of the traffic events. Alternatively or additionally, the map provider may be required to add or label the location and unique identification number of the road side unit directly on the high-precision map, leaving an interface for application-level calls, thereby also enabling traffic information to be reasonably matched to the corresponding precise location.
According to a preferred embodiment, the analyzed traffic event information can be encrypted before being sent to the vehicle, and a dynamic password is distributed to at least one version of the high-precision map and/or the vehicle carrying the high-precision map.
Preferably, the relevant encryption method, the relevant security algorithm or the relevant encryption module can be formulated, for example, on the basis of the unique version number and/or the identifier of the map.
Preferably, a dynamic password code may be assigned to each high-accuracy map at predetermined time intervals based on the encryption algorithm used and the unique version number and/or identifier (e.g., audit number) of the high-accuracy map, and/or a dynamic password code may be assigned to vehicles carrying different versions of the high-accuracy map based on a vehicle shipment number, an automatic driving verification number, current time information, and the like, wherein a vehicle authenticated by the dynamic password can analyze and use the received information conforming to the version of the map carried.
This advantageously ensures that different encryption methods are implemented for different map versions or vehicles carrying different maps, and that the vehicle can only interpret information transmitted by the V2X technology that matches the map being used by the vehicle, thus effectively increasing the security and reliability of the internet of vehicles information exchange and map data and geographic location information.
According to a second aspect of the present invention, there is provided an apparatus for matching a V2X technique with an encrypted and/or deflected high precision map, in particular for performing the method according to the present invention, the apparatus comprising: the system comprises an acquisition device, a processing device and a processing device, wherein the acquisition device is used for detecting traffic incident information which comprises position information of a traffic incident; analysis processing means for analyzing the traffic event information such that the traffic event information matches at least one version of an encrypted and/or deflected high precision map;
and the communication device is used for sending the analyzed and processed traffic event information to a vehicle carrying the at least one version of high-precision map so as to correctly position and/or match the traffic event on the high-precision map carried by the vehicle.
According to a third aspect of the present invention, a vehicle is provided comprising an apparatus for matching V2X technology with encrypted and/or deflected high precision maps according to the present invention.
According to a fourth aspect of the invention, there is provided a roadside unit comprising an apparatus for matching V2X technology with encrypted and/or deflected high precision maps according to the invention.
According to a fifth aspect of the present invention, there is provided a back-end data monitoring platform comprising an apparatus for matching V2X technology with encrypted and/or deflected high precision maps according to the present invention.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:
FIG. 1 shows the display of information collected by a roadside unit on a high-precision map carried by a vehicle, without and with matching, respectively;
FIG. 2 illustrates a block diagram of an apparatus for matching V2X technology to an encrypted and/or deflected high precision map, according to an exemplary embodiment of the present invention;
FIG. 3 illustrates a block diagram of an intelligent asset system architecture according to an exemplary embodiment of the present invention;
FIG. 4 illustrates a block diagram of a back-end monitoring platform according to an exemplary embodiment of the present invention;
FIG. 5 illustrates in a flow chart a method for matching V2X technology to an encrypted and/or deflected high precision map in accordance with an exemplary embodiment of the present invention;
FIG. 6 illustrates in a flow chart an exemplary embodiment of one step of the method in FIG. 5;
fig. 7 shows an exemplary embodiment of a step of the method in fig. 5 in a flow chart.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Fig. 1 shows the display of the information collected by the roadside unit on a high-precision map mounted on a vehicle, without matching and with matching, respectively. As shown in the upper portion of fig. 1, a vehicle 102 carrying an autonomous driving system is located on a first lane L1 of a three lane (L1, L2, L3) road, wherein a roadside unit 106 monitors its surroundings 108 and detects a traffic event 104. The traffic event 104 is here, for example, a traffic accident and occurs, for example, in the first lane L1, the position of which under the general Coordinate System (Cr: Coordinate System of Road Side Unit) on which the roadside Unit is based being (Cr _ x1, Cr _ y1, Cr _ z 1).
The automated vehicle 102 receives traffic event information from the roadside unit 106 during travel, which is illustratively 106 plus 104- (Cr _ x1-Cr _ y1-Cr _ z1), and displays it on a high-precision map that is onboard.
The following is shown in the lower left of fig. 1: the vehicle 102 receives the traffic event information with its location unencrypted and/or deflected and displays it directly on the privacy-processed (e.g., encrypted and/or deflected) high-precision map. It can be seen that the traffic event 104 is still positioned on the high accuracy map at the coordinate location (Cr _ x1, Cr _ y1, Cr _ z1) because the location data of the traffic event 104 is not matched or otherwise processed for privacy (e.g., encryption and/or deflection). However, since the coordinate system used by the high-precision map carried by the vehicle 102 is encrypted and/or deflected, the position on the map where the traffic event 104 is located is deviated from the actual accident position, and here, the traffic event 104 is erroneously located on the second lane L2, for example, which may cause the vehicle 102 to get into a jam without changing lanes in time.
The following is shown in the lower right of fig. 1: the traffic events 104 are analyzed and matched in position data to an encrypted and/or deflected high-precision map carried by the vehicle 102. Thus, in the vehicle 102, the traffic event 104 is displayed on the high-precision Map at the Coordinate position (Cv _ x1, Cv _ y1, Cv _ z1), (Cv _ x1, Cv _ y1, Cv _ z1) that is the position of the traffic event 104 in the Coordinate System (Cv: Coordinate System of HAD Map in vehicle) on which the high-precision Map carried by the vehicle 102 is based. It can be seen that the traffic event 102 is now positioned on the first lane L1 in accordance with the actual situation, so that the vehicle 102 can switch lanes ahead of time on the basis of this information, thus avoiding the accident location.
Fig. 2 shows a block diagram of an apparatus 200 for matching V2X technology with encrypted and/or deflected high precision maps according to an example embodiment of the present invention.
The device 200 is used to match the V2X technique to an encrypted and/or deflected high precision map. For example, the device 200 may be a Road Side Unit (Road Side Unit) or a part of a Road Side Unit, or an onboard device On a vehicle, an onboard Unit (On board Unit), or a part of a back end data monitoring platform. The device 200 may include an acquisition means 221 for acquiring traffic event information including location information of a traffic event. The acquisition device may acquire data (e.g., may be pictures, video, radar or lidar point cloud data, GNSS data, etc.) via a data acquisition device (e.g., a roadside unit or a sensor on a vehicle) to acquire traffic event information. The acquisition device can also receive traffic event information sent or forwarded by other equipment (such as other vehicles or road side units). The device 200 may further include an analysis processing means 222, and the analysis processing means 222 may perform analysis processing on the traffic event information, for example, the traffic event information acquired by the analysis processing acquisition means 221, so that the analysis processed traffic event information matches at least one version of the encrypted and/or deflected high-precision map. The traffic event may include, but is not limited to, the vehicle and/or the state information of the vehicle, and may also be, for example, GNSS location information of a shared vehicle, a picture processing result (such as a retrograde takeaway electric vehicle), a radar point cloud processing result (such as an overloaded truck), and other data; such as matching of traffic information with encrypted and/or deflected high-precision maps, recognizing a vehicle driving violation in a lane, a lane congestion, an accident, etc. Furthermore, the device 200 may further comprise communication means 224 for transmitting said traffic event information (including the traffic event information after the analysis process) to the vehicle and/or the back-end data monitoring platform, and optionally also electronic map storage means 223 in which, for example, at least one version of a high-precision map is stored.
FIG. 3 illustrates a block diagram of an intelligent asset system 300 according to an exemplary embodiment of the present invention. The intelligent asset system 300 includes a vehicle 310, a road side unit 320, and a back end data monitoring platform 330, which are interconnected in a manner that enables data transmission.
The vehicle 310 may include, for example, an in-vehicle terminal device that integrates various sensors and has a communication function, and a certain version of a high-precision map, which may be an encrypted and/or deflected high-precision map, may be installed and stored in the vehicle 310.
The roadside unit 320 may be, for example, an infrastructure device (e.g., traffic light, dynamic information sign, etc.), which may further include the apparatus 200 shown in fig. 2 for matching V2X technology to encrypted and/or deflected high precision maps.
According to one embodiment, after the roadside unit 320 collects/identifies/acquires the traffic event, the event information may be directly transmitted (e.g., based on DSRC and/or LTE/5G) to all vehicles (e.g., autonomous vehicles) with V2X functionality in the affected area; or based on LTE/5G, the event information is sent to the back-end data monitoring platform 330, and then the platform transfers the information to all vehicles (such as automatic driving vehicles) carrying the V2X function in the affected area.
The back-end data monitoring platform 330 may be, for example, a cloud server, the vehicle 310 and/or the roadside unit 320 may report the detected information (e.g., traffic event information) and/or the state thereof to the vehicle back-end data monitoring platform 330, and the vehicle back-end data monitoring platform 330 may also transmit the stored information or the analyzed result to related vehicles (e.g., other vehicles) to provide information to the related vehicles and/or control the driving of the related vehicles. The back-end data monitoring platform 330 may also store, for example, at least one version of a high-precision map (not shown), and/or plug-ins or modules equipped with encryption and/or deflection algorithms corresponding to each (e.g., each version of) high-precision map. According to this embodiment, the back-end data monitoring platform may be further configured to analyze the received traffic information such that the traffic event matches at least one version of the high-precision map. Before the analyzed and processed traffic event information matched with at least one version of high-precision map is sent to related vehicles, a corresponding dynamic password can be distributed to each version of high-precision map, and the traffic event information and the password information can be encrypted and/or packaged. After the vehicle receives the encrypted and/or packaged traffic event information and password information which is analyzed and processed and matched with at least one version of high-precision map, dynamic data matching (encryption verification) needs to be carried out on the information, the traffic event information which is analyzed and processed and matched with the high-precision map can be analyzed after the matching verification is passed, and the vehicle can only analyze the sub-data which is correctly matched with the password in the information (namely the traffic event position information matched with the version of the high-precision map carried by the vehicle).
FIG. 4 illustrates a back-end data monitoring platform according to an exemplary embodiment of the present invention.
The back-end data monitoring platform 40 may include a static database 401 and a dynamic database 402, where the static database 401 may have stored therein, for example, an autopilot certification audit number, identifiers corresponding to respective versions of high-precision maps (e.g., map version numbers, audit trail numbers, etc.), encryption and/or deflection plug-ins or modules corresponding to respective versions of high-precision maps, and the like. The received traffic event information may be stored in the dynamic database 402. The back-end data monitoring platform further comprises a communication interface 405, the communication interface is configured to receive the respective reported traffic events from the vehicle side and/or the roadside unit side and store the traffic events in the dynamic database 402, and the communication interface is further configured to send the analyzed and processed information (such as the traffic event information) to the vehicle and/or the roadside unit. In addition, the back-end data monitoring platform 40 further includes a data processing device 404 for performing matching processing and packaging processing on the traffic event information. Optionally, a dynamic password generating unit 403 is additionally disposed in the back-end data platform 40, and is configured to generate a dynamic password for at least one version of the high-precision map and/or the vehicle carrying the high-precision map. Although the dynamic password generation unit 403 is shown as a separate module in this exemplary embodiment, it is also possible that the dynamic password generation unit 403 is part of the data processing apparatus 404.
The specific manner of data processing in the back-end data monitoring platform is described herein in connection with an exemplary embodiment. In this exemplary embodiment, the back-end data monitoring platform side receives raw data reported from the rsu, and such raw data is, for example, in the following form:
106-104-(Cr_x1-Cr_y1-Cr_z1)
here, 104 represents, for example, a reported traffic event code, 106 represents, for example, a rsu code that reported the traffic event, (Cr _ x1-Cr _ y1-Cr _ z1) represents, for example, the original location information (unencrypted and biased) of the traffic event.
For example, 10 different encryption and/or deflection plug-ins are stored in the back-end data monitoring platform, which correspond to 10 different versions of the high-precision map.
After data processing, the back-end data monitoring platform 40 outputs the processed data to the respective vehicles. Here, the data output from the back-end data monitoring platform 40 is, for example, in the form of:
106-104-(Cv_x1,Cv_y1,Cv_z1)+password1；
106-104-(Cv_x2,Cv_y2,Cv_z2)+password2；
106-104-(Cv_x3,Cv_y3,Cv_z3)+password3；
…
106-104-Cv_x10,Cv_y10,Cv_z10+password10。
here, 104 denotes a reported traffic event code number, 106 denotes a roadside unit code number reporting the traffic event, (Cv _ x1, Cv _ y1, Cv _ z1) to (Cv _ x10-Cv _ y10-Cv _ z10) denote position information of the traffic event on 10 different versions of high-precision maps (subjected to corresponding encryption and/or deflection), and password1 to password10 denote dynamic password codes assigned to the respective versions of high-precision maps.
After processing, the back-end data monitoring platform 40 packages and transmits the data to a plurality of vehicles via the communication interface. It should be noted here that although each vehicle can receive a complete data packet matching 10 versions of a high-precision map, the vehicle can only be verified by a dynamic password of one of the data, and therefore can only parse information corresponding to the map version mounted on the vehicle.
Fig. 5 illustrates in a flow chart a method for matching V2X technology to an encrypted and/or deflected high precision map according to an exemplary embodiment of the invention.
The flow begins at step S1 and at step S1, traffic event information is obtained that includes location information for a traffic event. In step S2, the traffic event information is analyzed so that the analyzed traffic event information (in particular, the location information of the traffic event) is matched to at least one version of the encrypted and/or deflected high-precision map, wherein the at least one version of the high-precision map may be the high-precision map encrypted and/or deflected differently/algorithmically, respectively. In step S3, the traffic event information that has been analyzed and processed is sent to the vehicle that carries the at least one version of the high accuracy map so that the traffic event is properly matched and/or positioned on the high accuracy map carried by the vehicle.
One exemplary embodiment of step S2 of the method of fig. 5 will now be described in conjunction with fig. 6.
In this embodiment, the steps of the method according to the invention are explained by means of the intelligent asset system shown in fig. 3.
In step S1, the surroundings are detected, for example, by the roadside unit 320, a traffic event is detected, and traffic event information is acquired. Or the back-end data monitoring platform 330 may acquire the traffic event information sent by the vehicle 310 and/or the road side unit 320; or the vehicle 310 acquires traffic event information sent or forwarded by other vehicles or the road side unit 320; or the roadside unit 320 acquires the traffic event information transmitted or forwarded by the vehicle 310.
In step S201, it is determined whether at least one version of the high-precision map is stored in the roadside unit 320 or whether at least one version of the high-precision map is available (e.g., a high-precision map stored on another device or a remote server that is accessible by the roadside unit 320). If it is determined that the high-precision map is stored or available at the roadside unit, it indicates that the subsequent analysis processing steps can be continued in the roadside unit, for example.
It is then determined, for example further in step S202, whether the roadside unit 320 is tagged with the stored at least one version of the high precision map, and if it is determined that the roadside unit 320 has been tagged (e.g., tagged on a static information layer), this indicates that the roadside unit has a corresponding unique identification number (ID) as a map element, thereby enabling determination of the location of the roadside unit on the encrypted and/or biased map based on the unique identification number. It may then be determined, for example, in step S203 whether the traffic event relates to a static event, and if so, the location of the traffic event with respect to the roadside unit is first found in step S205, and based thereon, the coordinate location of the traffic event on the high-precision map is determined. If a dynamic event is involved, the instantaneous position and/or trajectory of the dynamic event relative to the roadside unit is first estimated in step S204, and then the coordinate position of the traffic event on the high precision map is determined based thereon in step S205.
If it is determined in step S201 that no high-precision map is stored in the roadside unit 320, no high-precision map is available, or if it is determined in step S202 that the roadside unit is not labeled with a high-precision map, the collected traffic event information (including the location information of the traffic event), the information of the roadside unit, and/or the location information of the traffic event with respect to the roadside unit 320 itself and/or other positioning features may be sent to the back-end data monitoring platform 330, for example, in step S206. It may additionally be determined in step S207 whether at least one version of the high-precision map is stored in the back-end data monitoring platform 330 or whether at least one version of the high-precision map is available (e.g., a high-precision map stored on another device or a remote server that is accessible by the back-end data monitoring platform 330). If this is the case, a corresponding encryption and/or deflection method (or encryption and/or deflection algorithm, plug-in) is determined from the identifier of the at least one version of the high-precision map, for example, in step S208, and encryption and/or deflection of the location information of the traffic event is performed inside the back-end data monitoring platform, so as to obtain the coordinate location of the traffic event on the corresponding high-precision map, such that the location information of the traffic event matches the at least one version of the high-precision map. If there is also no high-precision map stored or not stored enough or no available high-precision map in the back-end data monitoring platform, the information may be transmitted to the corresponding map provider again in step S209, and the traffic event and/or the position of the roadside unit may be encrypted and/or subjected to deflection processing and then matched/added to the corresponding high-precision map (e.g., dynamic information layer) by the map provider, so that, for example, the vehicle can acquire the traffic event information detected by the roadside unit and the position information matched with the high-precision map through the interface of the high-precision map (e.g., dynamic information layer). The map provider may also send the encrypted and/or deflected traffic event location information that matches the high-precision map to the back-end data monitoring platform 330, the road side unit 320, or a related vehicle.
One exemplary embodiment of step S3 of the method of fig. 5 is now described in conjunction with fig. 7.
In step S301, the back-end data monitoring platform 330 or the road side unit 320 may package the analyzed traffic event information and the traffic event location information matched with the high-precision map.
In step S302, the packaged information may be encrypted using different encryption algorithms and a corresponding dynamic password may be assigned to at least one version of the high-precision map. Here, according to one embodiment, for example, a dynamic password may be assigned to each high-precision map at certain time intervals (arbitrary update frequency) based on the encryption algorithm used and the identifier (e.g., version number or trial number) of the high-precision map. According to another embodiment, a dynamic password code may be assigned to an autonomous vehicle carrying different versions of high-precision maps based on, for example, a vehicle shipment number, an autonomous vehicle authentication audit number (a long series of random codes configured after the autonomous vehicle has been approved), current time information, and the like. According to another embodiment, the information may be encrypted and then packaged.
In step S303, the back-end data monitoring platform 330 or the road side unit 320 may transmit the packaged and/or encrypted traffic event information to the vehicle. At the roadside unit end, the packaged and encrypted information may be transmitted to vehicles in the surroundings of the roadside unit, for example, by means of DSRC communication. At the back-end data monitoring platform end, for example, the information that is packaged and encrypted can be sent to the relevant vehicle in an LTE communication mode.
It is understood that different encryption algorithms or manners exist for different data and definitions, and only vehicles authenticated by the encryption algorithm can use the data content corresponding to the authentication result. Therefore, information abuse can be effectively prevented, and information security can be improved.
Although specific embodiments of the invention have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications may be devised without departing from the spirit and scope of the present invention.
Claims (11)
1. A method for matching V2X technology with encrypted and/or deflected high precision maps, the method comprising at least the steps of:
acquiring traffic event information, wherein the traffic event information comprises position information of a traffic event;
analyzing the traffic event information so that the analyzed traffic event information is matched with at least one version of encrypted and/or deflected high-precision map;
and sending the analyzed and processed traffic event information to a vehicle carrying the at least one version of high-precision map so as to correctly match and/or position the traffic event on the high-precision map carried by the vehicle.
2. The method of claim 1, wherein the step of analyzing the process comprises:
determining whether at least one version of a high-precision map is available,
wherein the matching of the traffic event information with the high-precision map is decided according to a result of the judgment, whether to be performed in a vehicle or in a roadside unit (220) or in a back-end data monitoring platform (230), or by a map provider.
3. The method of claim 1 or 2, wherein the step of analyzing the process further comprises:
determining whether location information for the traffic event is directly or indirectly tagged on the at least one version of the high accuracy map,
wherein, according to the judgment result, the following steps are determined: and directly determining the coordinate position of the traffic incident on the high-precision map, or iteratively calculating the coordinate position of the traffic incident on the high-precision map according to a relative instant positioning algorithm.
4. The method of claim 3, wherein the step of analyzing further comprises:
determining whether the traffic event relates to a static event representing information of a fixed-location object or a dynamic event representing information of a non-fixed, temporary object,
wherein if the traffic event has been directly or indirectly annotated by the at least one version of the high accuracy map and the traffic event relates to a static event, the coordinate location of the traffic event on the high accuracy map is directly determined,
wherein, if the road side unit is labeled and the traffic event relates to a dynamic event, the instantaneous position and/or the motion track of the dynamic event are firstly calculated, and then the coordinate position of the traffic event on the high-precision map is determined.
5. The method of any one of claims 1 to 4, wherein the step of analyzing further comprises:
and judging whether a dynamic information layer interface used for the high-precision map of at least one version is available, wherein the dynamic information layer interface is used for transmitting information which can be directly called by a vehicle loaded with the high-precision map of at least one version.
6. The method according to any one of claims 1 to 5, characterized in that the analyzed traffic event is encrypted before the analyzed traffic event information is sent to a vehicle, and a dynamic password is assigned to the at least one version of the high-precision map and/or to the vehicle carrying the high-precision map.
7. Method according to claim 6, characterized in that a dynamic password is assigned to each high-precision map at certain time intervals on the basis of the encryption algorithm used and the identifier of the high-precision map, and/or
And distributing dynamic password passwords for vehicles carrying high-precision maps of different versions based on the vehicle delivery serial number, the automatic driving authentication number and the current time information.
8. Device (200) for matching a V2X technique with an encrypted and/or deflected high precision map, in particular for performing the method according to any of claims 1 to 7, comprising:
the device comprises an acquisition device (221) for acquiring traffic event information, wherein the traffic event information comprises position information of a traffic event;
analysis processing means (222) for analysing the traffic event information such that the traffic event matches at least one version of an encrypted and/or deflected high precision map;
and the communication device (224) is used for sending the analyzed and processed traffic incident information to a vehicle carrying the at least one version of high-precision map so as to correctly match and/or position the traffic incident on the high-precision map carried by the vehicle.
9. A vehicle comprising the apparatus (200) according to claim 8.
10. A road side unit comprising an apparatus (200) according to claim 8.
11. A backend data monitoring platform comprising the device (200) according to claim 8.
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